image/svg+xml Cognitive architectures A cognitive architecture is a formal theory of how the mind works, which can be implemented computationally. Understanding information processing systems at three levels of analysis (Marr, 1982) The level of the cognitive architecture is the level at which general cognitive mechanisms can be described irrespective of their implementation (Taatgen & Anderson, 2010), i.e. Marr’s algorithmic level. Alen Newell, the pioneer What are the parts of the cognition engine? ? - perception- action- control- representation- attention- decision making- learning- memory- planning- ... Early days: General Problem Solver Separating the knowledge From the strategy of how to solve problems Newell, Shaw, & Simon, 1959 ACT-R Spaun Eliasmith et al., A Large-Scale Model of the Functioning Brain, Science, 2012 Semantic Pointer Architecture Unified Network What is missing in those approaches? is more than connecting a brain and a body Bottom-up, behavior-based approches A variety of simple behaviors are built into the robot's repertoire. These behaviors are layered and organized into a hierarchy, with more abstract goals farther up the heirarchy. Can you drive only with a motor engine? Brain Body Environment What is a ball? Feeling softness How to catch a ball? Combining embodied behaviors Subsumption architecture (Brooks, 1986) What is missing in those approaches? Classical, Alternative and Modern views Top-down representation-basedvs.Bottom-up behavior-based Top-down, representation-based approches Asimo vs. Big-DogBut big-dog doesn't play chess A complex internal representation of a task is decomposed into sub-tasks to be executed, recursively Distributed Adaptive Control (DAC) Merging both approaches
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  1. full
  2. cogarch_def
  3. marr_levels
  4. cogarch_def
  5. newell1
  6. newell2
  7. newell_motor
  8. cog_engine
  9. cog_engine_list
  10. cogeng icub mods
  11. cogeng gaze
  12. cogeng pick vid
  13. cogeng full arch
  14. full2
  15. classical
  16. gps
  17. actrspaun
  18. actr
  19. spaun
  20. spaun_vid
  21. classical_missing
  22. embodiment_missing
  23. zmp
  24. embodiment is more
  25. full_after_classical
  26. alternative
  27. can you drive
  28. car
  29. car_env
  30. brain body env
  31. spiral
  32. embodied cog
  33. embodied vids
  34. passive walker
  35. soft grasp
  36. soft crawl
  37. embodiment_def
  38. embodiment recap
  39. ball
  40. ball embodied
  41. softness
  42. smc
  43. catch ball
  44. oac
  45. brooks best
  46. subsumption
  47. subsumption vid
  48. alternative missing